Engagement of microsurgical robotic system

Abstract

Apparatus and methods are described for performing a procedure on a portion of a body of a patient using a surgical tool. A computer processor drives a display to show an image that includes a representation of the surgical tool. In response to a control-component tool being at least partially aligned with the representation of the surgical tool within the image upon the display, the computer processor engages the control-component tool with the surgical tool, such that the tip of the surgical tool is moved within the patient's eye in a manner that corresponds with movement of the location and orientation of the tip of the control-component tool. Other applications are also described.

1 . Apparatus for performing a procedure on a portion of a body of a patient using a surgical tool that has a tip, an imaging system and a display, the apparatus comprising:
 a robotic unit configured to move the surgical tool;   a control-component unit that comprises one or more location sensors and a control-component tool that is configured to be moved by an operator and that defines a tip; and   at least one computer processor configured:
 to drive the display to show an image that includes a representation of the surgical tool; 
 in response to the control-component tool being at least partially aligned with the representation of the surgical tool within the image upon the display, to engage the control-component tool with the surgical tool, and 
 when the control-component tool is engaged with the surgical tool:
 to determine movement of the location and orientation of the tip of the control-component tool based upon data received from the one or more location sensors; and 
 to move the tip of the surgical tool within the patient's eye in a manner that corresponds with the movement of the location and orientation of the tip of the control-component tool. 
 
   
     
     
         2 . The apparatus according to  claim 1 , wherein the apparatus is configured for performing an ophthalmic procedure on an eye of a patient using one or more ophthalmic tools that have tips and wherein the robotic unit is configured to move the one or more ophthalmic tools within the patient's eye. 
     
     
         3 . The apparatus according to  claim 1 , wherein the computer processor is configured to drive the display to display an augmented control-component tool overlaid upon the control-component tool upon the display, and wherein the computer processor is configured to engage the control-component tool with the surgical tool in response to the augmented control-component tool being at least partially aligned with the representation of the surgical tool within the image upon the display. 
     
     
         4 . The apparatus according to  claim 1 , wherein the computer processor is configured to automatically move the control-component tool to become at least partially aligned with the representation of the surgical tool within the image upon the display, such that the control-component tool becomes engaged with the surgical tool. 
     
     
         5 . The apparatus according to  claim 1 , wherein the robotic unit is capable of moving the surgical tool within a tool workspace, and wherein the computer processor is configured to automatically drive the robotic unit to move the surgical tool to an initial position at which the surgical tool is within a given portion of the tool workspace. 
     
     
         6 . The apparatus according to  claim 1 , wherein:
 the robotic unit is configured to move the surgical tool within a tool frame of reference;   the control-component tool is moveable within a control-component frame of reference; and   the computer processor is configured to guide the operator to move the control-component tool to become engaged with the surgical tool when the control-component tool is disposed at an orientation within the control component frame of reference that is substantially similar to an orientation of the surgical tool within the tool frame of reference.   
     
     
         7 . The apparatus according to  claim 1 , wherein the computer processor is configured to engage the control-component tool with the surgical tool, without requiring any inputs via any operator-controlled interfaces other than movement of the control-component tool. 
     
     
         8 . The apparatus according to  claim 1 , wherein the computer processor is configured to drive the display to show an image that includes a representation of the surgical tool by driving the display an image of the surgical tool. 
     
     
         9 . The apparatus according to  claim 8 , wherein the computer processor is configured to drive the display to show an image that includes a representation of the surgical tool by driving the display an image of the surgical tool and the portion of the patient's body. 
     
     
         10 . The apparatus according to  claim 8 , wherein the computer processor is configured to drive the display to show an image that includes a representation of the surgical tool by driving the display to display an augmented surgical tool overlaid upon the surgical tool upon the display. 
     
     
         11 . The apparatus according to  claim 1 , wherein:
 the surgical tool includes left and right surgical tools;   the robotic unit comprises left and right robotic units configured to move the left and right surgical tools respectively;   the control-component unit comprises left and right control-component tools that are configured to be moved by the operator and that define tips;   the left control-component tool is engageable with both of the left and right surgical tools; and   the right control-component tool is engageable with both of the left and right surgical tools.   
     
     
         12 . The apparatus according to  claim 11 , wherein the computer processor is configured to engage the left control-component tool with the right surgical tool and the right control-component tool with the left surgical tool in response to an input from the operator. 
     
     
         13 . The apparatus according to  claim 11 , wherein the computer processor is configured to engage the left control-component tool with the right surgical tool and the right control-component tool with the left surgical tool automatically based on positions of the left and right robotic units relative to the portion of the patient's body. 
     
     
         14 . The apparatus according to  claim 1 , wherein the robotic unit is capable of moving the surgical tool within a tool workspace, and wherein the computer processor is configured to disengage the control-component tool from the surgical tool in response to the surgical tool being moved toward an edge of the tool workspace. 
     
     
         15 . The apparatus according to  claim 14 , wherein the computer processor is configured to generate a graphic on the display indicating that the control-component tool is being disengaged from the surgical tool. 
     
     
         16 . The apparatus according to  claim 1 , wherein the control-component tool is moveable within a control-component workspace, and wherein the computer processor is configured to guide the operator to move the control-component tool to become engaged with the surgical tool when the control-component tool is disposed within a given portion of the control-component workspace. 
     
     
         17 . The apparatus according to  claim 16 , wherein the computer processor is configured to guide the operator to move the control-component tool to become engaged with the surgical tool when the control-component tool is disposed relatively centrally within the control-component workspace. 
     
     
         18 . The apparatus according to  claim 16 , wherein the robotic unit is capable of moving the surgical tool within a tool workspace, and wherein the computer processor is configured to guide the operator to move the control-component tool to become engaged with the surgical tool when the control-component tool is disposed such that the control-component tool can be moved so as to move the surgical tool to any location within the tool workspace without the control-component tool leaving the control-component workspace. 
     
     
         19 . Apparatus for performing a procedure on a portion of a body of a patient using a surgical tool that has a tip, an imaging system and a display, the apparatus comprising:
 a robotic unit configured to move the surgical tool within a tool frame of reference;   a control-component unit that comprises one or more location sensors and a control-component tool that is configured to be moved by an operator and that defines a tip, and that is moveable within a control-component frame of reference; and   at least one computer processor configured:
 to guide the operator to move the control-component tool to become engaged with the surgical tool when the control-component tool is disposed at an orientation within the control-component frame of reference that is substantially similar to an orientation of the surgical tool within the tool frame of reference, and 
 when the control-component tool is engaged with the surgical tool:
 to determine movement of the location and orientation of the tip of the control-component tool based upon data received from the one or more location sensors; and 
 to move the tip of the surgical tool within the patient's eye in a manner that corresponds with the movement of the location and orientation of the tip of the control-component tool. 
 
   
     
     
         20 . The apparatus according to  claim 19 , wherein the computer processor is configured to engage the control-component tool with the surgical tool, without requiring any inputs via any operator-controlled interfaces other than movement of the control-component tool. 
     
     
         21 . The apparatus according to  claim 19 , wherein the robotic unit is capable of moving the surgical tool within a tool workspace, and wherein the computer processor is configured to disengage the control-component tool from the surgical tool in response to the surgical tool being moved toward an edge of the tool workspace. 
     
     
         22 . The apparatus according to  claim 19 , wherein the computer processor is configured to drive the display to show an image that includes a representation of the of the surgical tool. 
     
     
         23 . The apparatus according to  claim 22 , wherein the computer processor is configured, in response to the control-component tool being at least partially aligned with the representation of the surgical tool within the image upon the display, to engage the control-component tool with the surgical tool. 
     
     
         24 . The apparatus according to  claim 19 , wherein the control-component tool is moveable within a control-component workspace, and wherein the computer processor is configured to guide the operator to move the control-component tool to become engaged with the surgical tool when the control-component tool is disposed within a given portion of the control-component workspace. 
     
     
         25 . The apparatus according to  claim 24 , wherein the computer processor is configured to guide the operator to move the control-component tool to become engaged with the surgical tool when the control-component tool is disposed relatively centrally within the control-component workspace. 
     
     
         26 . The apparatus according to  claim 24 , wherein the robotic unit is capable of moving the surgical tool within a tool workspace, and wherein the computer processor is configured to guide the operator to move the control-component tool to become engaged with the surgical tool when the control-component tool is disposed such that the control-component tool can be moved such as to move the surgical tool to any location within the tool workspace without the control-component tool leaving the control-component workspace.